Extract the timestamp from an image filename. Assumes the timestamp is the last underscore-separated token in the name (before the file exten

Convert an image name to a timestamp (integer). If the image name starts with 'DSC', the timestamp is the integer part after 'DSC'. Othe

poses: list of 4x4 arrays

Initialize parts of decoder that are dependent on dimension of encoder tokens. Should be called when setting up MultiMAE. :p

Invert a torch or numpy matrix

Check if a viewpoint is valid and overlaps significantly with a reference one.

Read trajectory format. Return in TUM-RGBD format. Returns: traj_tum (N, 7): camera to world poses in (x,y,z,qx,qy,qz,qw) timestam

Convert OpenCV intrinsics (with pixel centers at (0, 0)) to COLMAP convention.

Modify camera intrinsics to follow a different convention. Coordinates of the center of the top-left pixels are by default: - (0.5, 0.5)

Parse the extrinsics file to extract the intrinsics and pose matrices. Args: file_path (str): The path to the file containing the extrin

read numpy array from file. filepath: file to read from returns: numpy array

adapted from https://lmb.informatik.uni-freiburg.de/resources/datasets/SceneFlowDatasets.en.html

Compute the relative translation and quaternion between two poses.

Resize an optical flow field to a new resolution and scale its vectors accordingly. Args: flow (np.ndarray): Flow array of shape [H,

Sample a random viewpoint using the navmesh

This function disables printing when not in master process

write numpy array to file. arr: numpy array to write filepath: file to write to

Build network for binocular downstream task It takes an extra argument head, that is called with the features and a dictionary img_i

Add camera parameters to the observation dictionnary produced by Habitat-Sim In-place modifications.